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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li><li class="navelem"><a class="el" href="dir_e6ad0a15879717e90bb3edf6e9f68e2c.html">narrowphase</a></li>  </ul>
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<div class="title">point.h</div>  </div>
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<a href="point_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef POINT_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define POINT_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">collision/narrowphase/shape.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="point_8h.html#a2b4e4c6e8ef2f484b1c807c5a7baf5f0">   13</a></span>&#160;<span class="preprocessor">#define COLLISION_FCL_POINT_EPS 0.000001</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html">   18</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_point.html">Point</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a> {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html#a85f4b419d4062f630de79dc618d483d4">   21</a></span>&#160;  <a class="code" href="classcollision_1_1_point.html#a85f4b419d4062f630de79dc618d483d4">Point</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;_center = Eigen::Vector2d(0, 0))</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      : <a class="code" href="classcollision_1_1_shape.html">Shape</a>(_center) {}</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html#a4f2492c5e05e9858b97e8ae0d2173a54">   24</a></span>&#160;  <a class="code" href="classcollision_1_1_point.html#a4f2492c5e05e9858b97e8ae0d2173a54">~Point</a>() {}</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="classcollision_1_1_point.html#a85f4b419d4062f630de79dc618d483d4">Point</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_point.html">Point</a> &amp;copy);</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="classcollision_1_1_point.html">Point</a> *<a class="code" href="classcollision_1_1_point.html#aac9adc92238a39936e1d8760f8085a70">clone</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_point.html#ac525efda27b241de0f5468e2c8a2ecf4">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html#a04b98afbd6a02af182bc654f3fc6bec6">   31</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a> <a class="code" href="classcollision_1_1_point.html#a04b98afbd6a02af182bc654f3fc6bec6">getCollisionObjectType</a>()<span class="keyword"> const override </span>{</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">CollisionObjectType::OBJ_TYPE_POINT</a>;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  }</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a> *</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="classcollision_1_1_point.html#a581a5062e2c3b8a46f81157c118800f7">createFCLCollisionGeometry</a>(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1_point.html#ab5bd1332d89031f735bcfefb676fb9de">createFCLCollisionObject</a>(</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a>&gt; &amp;)</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keyword">const override</span>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_point.html#afdf2b1b2b71bb7513440bd8a6cf12f7a">type</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="classcollision_1_1serialize_1_1_i_collision_object_export.html">serialize::ICollisionObjectExport</a> *exportThis(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">Shape::center_</a>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">Shape::radius_</a>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classcollision_1_1_point.html#a66196ee0bf7b7d335e644b179284c395">   51</a></span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_point.html#a66196ee0bf7b7d335e644b179284c395">type_</a> = <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a5c1fd1232bd9e615a4c1618591cd03ff">TYPE_POINT</a>;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;};</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classcollision_1_1_shape_html_ab453849fed42ee9769df87210ca5262d"><div class="ttname"><a href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">collision::Shape::radius_</a></div><div class="ttdeci">double radius_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00072">shape.h:72</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_afdf2b1b2b71bb7513440bd8a6cf12f7a"><div class="ttname"><a href="classcollision_1_1_point.html#afdf2b1b2b71bb7513440bd8a6cf12f7a">collision::Point::type</a></div><div class="ttdeci">ShapeType type() const</div><div class="ttdoc">Get shape type.</div><div class="ttdef"><b>Definition:</b> <a href="point_8cc_source.html#l00031">point.cc:31</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">collision::CollisionObjectType</a></div><div class="ttdeci">CollisionObjectType</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00016">collision_object_types.h:16</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a1d41d4535feebb1512930a79cf9c097a">collision::OBJ_TYPE_POINT</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00021">collision_object_types.h:21</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a5c1fd1232bd9e615a4c1618591cd03ff"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a5c1fd1232bd9e615a4c1618591cd03ff">collision::TYPE_POINT</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00013">shape.h:13</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_ac525efda27b241de0f5468e2c8a2ecf4"><div class="ttname"><a href="classcollision_1_1_point.html#ac525efda27b241de0f5468e2c8a2ecf4">collision::Point::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const</div><div class="ttdoc">Print all parameters of the shape.</div><div class="ttdef"><b>Definition:</b> <a href="point_8cc_source.html#l00026">point.cc:26</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_geometry_html"><div class="ttname"><a href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00010">i_fcl_collision_object.h:10</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_a4f2492c5e05e9858b97e8ae0d2173a54"><div class="ttname"><a href="classcollision_1_1_point.html#a4f2492c5e05e9858b97e8ae0d2173a54">collision::Point::~Point</a></div><div class="ttdeci">~Point()</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00024">point.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_a66196ee0bf7b7d335e644b179284c395"><div class="ttname"><a href="classcollision_1_1_point.html#a66196ee0bf7b7d335e644b179284c395">collision::Point::type_</a></div><div class="ttdeci">static constexpr ShapeType type_</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00051">point.h:51</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_a581a5062e2c3b8a46f81157c118800f7"><div class="ttname"><a href="classcollision_1_1_point.html#a581a5062e2c3b8a46f81157c118800f7">collision::Point::createFCLCollisionGeometry</a></div><div class="ttdeci">fcl::CollisionGeometry&lt; FCL_PRECISION &gt; * createFCLCollisionGeometry(void) const override</div><div class="ttdef"><b>Definition:</b> <a href="point_8cc_source.html#l00010">point.cc:10</a></div></div>
<div class="ttc" id="classcollision_1_1serialize_1_1_i_collision_object_export_html"><div class="ttname"><a href="classcollision_1_1serialize_1_1_i_collision_object_export.html">collision::serialize::ICollisionObjectExport</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__object__export_8h_source.html#l00008">i_collision_object_export.h:8</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_a85f4b419d4062f630de79dc618d483d4"><div class="ttname"><a href="classcollision_1_1_point.html#a85f4b419d4062f630de79dc618d483d4">collision::Point::Point</a></div><div class="ttdeci">Point(const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00021">point.h:21</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_aac9adc92238a39936e1d8760f8085a70"><div class="ttname"><a href="classcollision_1_1_point.html#aac9adc92238a39936e1d8760f8085a70">collision::Point::clone</a></div><div class="ttdeci">Point * clone() const</div><div class="ttdef"><b>Definition:</b> <a href="point_8cc_source.html#l00022">point.cc:22</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">collision::ShapeType</a></div><div class="ttdeci">ShapeType</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00012">shape.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_a04b98afbd6a02af182bc654f3fc6bec6"><div class="ttname"><a href="classcollision_1_1_point.html#a04b98afbd6a02af182bc654f3fc6bec6">collision::Point::getCollisionObjectType</a></div><div class="ttdeci">virtual CollisionObjectType getCollisionObjectType() const override</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00031">point.h:31</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html"><div class="ttname"><a href="classcollision_1_1_point.html">collision::Point</a></div><div class="ttdoc">A point in space.</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00018">point.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a3a397b619573e160d18954605a11f7bd"><div class="ttname"><a href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">collision::Shape::center_</a></div><div class="ttdeci">Eigen::Vector2d center_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00071">shape.h:71</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html_ab5bd1332d89031f735bcfefb676fb9de"><div class="ttname"><a href="classcollision_1_1_point.html#ab5bd1332d89031f735bcfefb676fb9de">collision::Point::createFCLCollisionObject</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * createFCLCollisionObject(const std::shared_ptr&lt; fcl::CollisionGeometry&lt; FCL_PRECISION &gt;&gt; &amp;) const override</div><div class="ttdef"><b>Definition:</b> <a href="point_8cc_source.html#l00013">point.cc:13</a></div></div>
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